Full Content is available to subscribers

Subscribe/Learn More  >

Robust State Estimation With Redundant Proprioceptive Sensors

[+] Author Affiliations
David Rollinson, Howie Choset, Stephen Tully

Carnegie Mellon University, Pittsburgh, PA

Paper No. DSCC2013-3873, pp. V003T40A005; 10 pages
  • ASME 2013 Dynamic Systems and Control Conference
  • Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control
  • Palo Alto, California, USA, October 21–23, 2013
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5614-7
  • Copyright © 2013 by ASME


We present a framework for robust estimation of the configuration of an articulated robot using a large number of redundant proprioceptive sensors (encoders, gyros, accelerometers) distributed throughout the robot. Our method uses an Unscented Kalman Filter (UKF) to fuse the robot’s sensor measurements. The filter estimates the angle of each joint of the robot, enabling the accurate estimation of the robot’s kinematics even if not all modules report sensor readings. Additionally, a novel outlier detection method allows the the filter to be robust to corrupted accelerometer and gyro data.

Copyright © 2013 by ASME



Interactive Graphics


Country-Specific Mortality and Growth Failure in Infancy and Yound Children and Association With Material Stature

Use interactive graphics and maps to view and sort country-specific infant and early dhildhood mortality and growth failure data and their association with maternal

Citing articles are presented as examples only. In non-demo SCM6 implementation, integration with CrossRef’s "Cited By" API will populate this tab (http://www.crossref.org/citedby.html).

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In